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The robot_pose_ekf ROS package applies sensor fusion on the robot IMU and odometry values to estimate its 3D pose.

CMake 4.84% C++ 91.62% MATLAB 2.95% Python 0.59%

robot_pose_ekf's Introduction

robot_pose_ekf package

The robot_pose_ekf ROS package applies sensor fusion on the robot IMU and odometry values to estimate its 3D pose.

Nodes

The package contains a single node

robot_pose_ekf: Implements an Extended Kalman Filter, subscribes to robot measurements, and publishes a filtered 3D pose.
- Script File: wtf.py
- Subscriber: "/odom", "/imu_data", and "/vo "
- Publisher: "/robot_pose_ekf/odom_combined"

Steps to launch the nodes

Step1: Install the package

$ cd /home/workspace/catkin_ws/src/
$ git clone https://github.com/udacity/robot_pose_ekf

Step2: Edit the robot_pose_ekf.launch file

<launch>

<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
  <param name="output_frame" value="odom_combined"/>
  <param name="base_footprint_frame" value="base_footprint"/>
  <param name="freq" value="30.0"/>
  <param name="sensor_timeout" value="1.0"/>  
  <param name="odom_used" value="true"/>
  <param name="imu_used" value="true"/>
  <param name="vo_used" value="false"/>

  <remap from="imu_data" to="/mobile_base/sensors/imu_data" />    

</node>

</launch>

Step3: Build the package

$ cd /home/workspace/catkin_ws

$ catkin_make

$ source devel/setup.bash

Step4: Launch the node

$ roslaunch robot_pose_ekf robot_pose_ekf.launch

robot_pose_ekf's People

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karimchamaa xuweiwu hoppss sweetquiet byronrwth zhaifengguang hustmrzhang hanahimi xiaonanguniang qianlinjun lincolnxlw zrazer kechxu donrv aaravrav142 samrule treexun camerondevine samindaa weixiaopassking ke8627 2amour gnss-psins headreaper-hc freeclouds m-asani duanliying jasonashton ltinphan hzm8341 ecranney jindaping calm-wy duyuliang dpduanpu coolwebgo ahandsomeperson kimsoohwan liuxiao2018 zkl2017 abbhi87 walker-ecijg-ufes tonycmu shanpenghui rezenders mason-woo eevidal danibyay jimohafeezco liuchanglong12 guochaodlnu gaodian0323 ohhandsome geonhee-lee collector-m tconcept jasonsun623 akn5 joseantonioribeiro shashika007 xiao16 helloparanoidandroid cggos encomp jackie2455 pansi18 yaoxiuyong richardhansir christianbusch msareebhakak willingup channalyang ukykora shijian1995 sachitm w9ybz c276 fengzhang123 hi-techno-barrio pandinosaurus handzooo changzhengwu debanik123 daniel-m-campos jmatilai michael-lhh mfkiwl russ76 jkordani bfyskuy bigjohnn tiandaji woosuk1103 polinatrump lleesg b2220333 kisscv thirses qixuezhong gw96

robot_pose_ekf's Issues

can this work with only imu data?

sensor data without covariance

hi, i achieved amazing performance when run this demo project. But when i apply our own sensor data to this work, it perform not well. The odom data and vo data don't have corresponding covariance, what should i do? if the covariance is necessary, can you teach me how to figure it out? Thank you so much~

Where are simulator datas from?

Fusing odom data and position data from another topic

I have odom topic and topic which send robot position (only x,y). Can I use this package for fusing my data?

Datatype Discrepancy Issue

Hi, I just have a small question (I'm new to GitHub, so I'm not sure if this is the right place, but I'll give it a try). I am trying to have the "robot_pose_ekf" work with "fiducial_slam/fiducial_pose" so that a robot equipped with a camera (which would detect fiducials) would be able to determine its own position in a network of fiducials. However, when I tried running the two programs together, I got this error:

[ERROR] [1389688193.050254972]: Client [/robot_pose_ekf] wants topic /fiducial_pose to have datatype/md5sum [nav_msgs/Odometry/cd5e73d190d741a2f92e81eda573aca7], but our version has [geometry_msgs/PoseWithCovarianceStamped/953b798c0f514ff060a53a3498ce6246]. Dropping connection.

Based on what I've been looking up to fix the issue, I believe that in order to fix this I would have to alter the message type from to "geometry_msgs::PoseWithCovarianceStamped" instead of "nav_msgs::odometry":

robot.OdomCombinedSubscriber = nh.subscribe<geometry_msgs::PoseWithCovarianceStamped>("/robot_pose_ekf/odom_combined"[...]&robot);

However, when I tried looking for the abovementioned piece, I could not find it, despite looking through what seemed to be all the folders and texts. Where could I change the message type so that the error can be addressed, and if this is no longer the way to fix the error (or any other way to do so), what would that method be?

Thank you very much for your help, and I look forward to your reply! Have a great day!

robot_pose_ekf does not publish anything...

~$ rostopic list

/cmd_vel
/control_vel
/encoder/odom
/imu/data
/imu_data
/md49_data
/md49_encoders
/pr2_base_odometry/odom
/ref_pose
/ref_vel
/robot_pose_ekf/odom_combined
/rosout
/rosout_agg
/tf
/tf_static
/vo

There are no response for this command
~$ rostopic echo /robot_pose_ekf/odom_combined

I want to echo the output of "robot_pose_ekf"

MIT License is invalid -- Seemingly illegal relicense

Hi @karimchamaa,

It looks like you copy pasted this from the navigation stack / ros-planning work and may have accidentally illegally relicensed it under MIT.

You are more than welcome under the rights of BSD to copy paste this around as long as you retain the original copyright headers, but you may not relicense the project under MIT, which you included in the root of this package.

Also, you continue to have the license listed as BSD in the package.xml.

Given all you've done to this is add a nice README, I strongly recommend submitting a PR against the robot_pose_ekf package in ros-planning that I would merge and archiving this repository. If nothing else, please respond to change the licensing.